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There is a Legacy version here.

PFS StandardWarden's Step Feat 10

Ranger 
Source Player Core pg. 161
Archetype Horizon Walker*
Prerequisites master in Stealth
* This archetype offers Warden's Step at a different level than displayed here.

You can guide your allies to move quietly through the wilderness. When you Avoid Notice during exploration in natural terrain, you can designate any number of your allies to gain the benefits as if they were using that activity during that exploration. This requires no action on their part

Archetype Use

This feat can be used for one or more Archetypes in addition to the listed Classes. When selected this way, the feat is not considered to have its class traits.